User Guide

Lynxmotion SSC-32U Servo Controller Board

Electronics Guide

VS <arg>

Sets the speed for movement of vertical servos. All vertical servo moves use this speed. Valid

range is 0 to 65535uS/Sec.

LF <arg>, LR <arg>

Set the value for the horizontal servos on the left side of the robot. LF sets the front value, i.e.

the pulse width to move the leg to the maximum forward position; LR sets the rear value. The

valid range for the arguments is 500 to 2500uS.

RF <arg>, RR <arg>

Set the values for the horizontal servos on the right side of the robot. RF sets the front value, i.e.

the pulse width to move the leg to the maximum forward position; RR sets the rear value. The

valid range for the arguments is 500 to 2500uS.

HT <arg>

Sets the time to move between horizontal front and rear positions. The valid range for the

argument is 1 to 65535uS.

XL <arg>, XR <arg>

Set the travel percentage for left and right legs. The valid range is -100% to 100%. Negative

values cause the legs on the side to move in reverse. With a value of 100%, the legs will move

between the front and rear positions. Lower values cause the travel to be proportionally less, but

always centered. The speed for horizontal moves is adjusted based on the XL and XR

commands, so the move time remains the same.

XS <arg>

Set the horizontal speed percentage for all legs. The valid range is 0% to 200%. With a value of

100%, the horizontal travel time will be the value programmed using the HT command. Higher

values proportionally reduce the travel time; lower values increase it. A value of 0% will stop the

robot in place. The hex sequencer will not be started until the XS command is received.